#include <map_builder_bridge.h>

Classes
struct	LocalTrajectoryData
Public Member Functions
int	AddTrajectory (const std::set< ::cartographer::mapping::TrajectoryBuilderInterface::SensorId > &expected_sensor_ids, const TrajectoryOptions &trajectory_options)
void	FinishTrajectory (int trajectory_id)
visualization_msgs::MarkerArray	GetConstraintList ()
visualization_msgs::MarkerArray	GetLandmarkPosesList ()
std::unordered_map< int, LocalTrajectoryData >	GetLocalTrajectoryData () LOCKS_EXCLUDED(mutex_)
cartographer_ros_msgs::SubmapList	GetSubmapList ()
visualization_msgs::MarkerArray	GetTrajectoryNodeList ()
std::map< int,::cartographer::mapping::PoseGraphInterface::TrajectoryState >	GetTrajectoryStates ()
void	HandleSubmapQuery (cartographer_ros_msgs::SubmapQuery::Request &request, cartographer_ros_msgs::SubmapQuery::Response &response)
void	HandleTrajectoryQuery (cartographer_ros_msgs::TrajectoryQuery::Request &request, cartographer_ros_msgs::TrajectoryQuery::Response &response)
void	LoadState (const std::string &state_filename, bool load_frozen_state)
	MapBuilderBridge (const NodeOptions &node_options, std::unique_ptr< cartographer::mapping::MapBuilderInterface > map_builder, tf2_ros::Buffer *tf_buffer)
	MapBuilderBridge (const MapBuilderBridge &)
MapBuilderBridge &	operator= (const MapBuilderBridge &)
void	RunFinalOptimization ()
SensorBridge *	sensor_bridge (int trajectory_id)
bool	SerializeState (const std::string &filename, const bool include_unfinished_submaps)
Private Member Functions
std::unordered_map< int, std::shared_ptr< const LocalTrajectoryData::LocalSlamData > > local_slam_data_	GUARDED_BY (mutex_)
void	OnLocalSlamResult (const int trajectory_id, const ::cartographer::common::Time time, const ::cartographer::transform::Rigid3d local_pose,::cartographer::sensor::RangeData range_data_in_local) LOCKS_EXCLUDED(mutex_)
Private Attributes
std::unordered_map < std::string, int >	landmark_to_index_
std::unique_ptr < cartographer::mapping::MapBuilderInterface >	map_builder_
absl::Mutex	mutex_
const NodeOptions	node_options_
std::unordered_map< int, std::unique_ptr< SensorBridge > >	sensor_bridges_
tf2_ros::Buffer *const	tf_buffer_
std::unordered_map< int, TrajectoryOptions >	trajectory_options_
std::unordered_map< int, size_t >	trajectory_to_highest_marker_id_

Detailed Description

Definition at line 50 of file map_builder_bridge.h.

Constructor & Destructor Documentation

cartographer_ros::MapBuilderBridge::MapBuilderBridge	(	const NodeOptions &	node_options,
		std::unique_ptr< cartographer::mapping::MapBuilderInterface >	map_builder,
		tf2_ros::Buffer *	tf_buffer
	)

Definition at line 100 of file map_builder_bridge.cc.

cartographer_ros::MapBuilderBridge::MapBuilderBridge ( const MapBuilderBridge & )

Member Function Documentation

int cartographer_ros::MapBuilderBridge::AddTrajectory	(	const std::set< ::cartographer::mapping::TrajectoryBuilderInterface::SensorId > &	expected_sensor_ids,
		const TrajectoryOptions &	trajectory_options
	)

Definition at line 122 of file map_builder_bridge.cc.

void cartographer_ros::MapBuilderBridge::FinishTrajectory ( int trajectory_id )

Definition at line 151 of file map_builder_bridge.cc.

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetConstraintList ( )

Definition at line 398 of file map_builder_bridge.cc.

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetLandmarkPosesList ( )

Definition at line 386 of file map_builder_bridge.cc.

std::unordered_map< int, MapBuilderBridge::LocalTrajectoryData > cartographer_ros::MapBuilderBridge::GetLocalTrajectoryData ( )

Definition at line 234 of file map_builder_bridge.cc.

cartographer_ros_msgs::SubmapList cartographer_ros::MapBuilderBridge::GetSubmapList ( )

Definition at line 215 of file map_builder_bridge.cc.

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetTrajectoryNodeList ( )

Definition at line 286 of file map_builder_bridge.cc.

std::map< int,::cartographer::mapping::PoseGraphInterface::TrajectoryState > cartographer_ros::MapBuilderBridge::GetTrajectoryStates ( )

Definition at line 203 of file map_builder_bridge.cc.

std::unordered_map<int, std::shared_ptr<const LocalTrajectoryData::LocalSlamData> > local_slam_data_ cartographer_ros::MapBuilderBridge::GUARDED_BY ( mutex_ ) [private]

void cartographer_ros::MapBuilderBridge::HandleSubmapQuery	(	cartographer_ros_msgs::SubmapQuery::Request &	request,
		cartographer_ros_msgs::SubmapQuery::Response &	response
	)

Definition at line 171 of file map_builder_bridge.cc.

void cartographer_ros::MapBuilderBridge::HandleTrajectoryQuery	(	cartographer_ros_msgs::TrajectoryQuery::Request &	request,
		cartographer_ros_msgs::TrajectoryQuery::Response &	response
	)

Definition at line 262 of file map_builder_bridge.cc.

void cartographer_ros::MapBuilderBridge::LoadState	(	const std::string &	state_filename,
		bool	load_frozen_state
	)

Definition at line 108 of file map_builder_bridge.cc.

void cartographer_ros::MapBuilderBridge::OnLocalSlamResult	(	const int	trajectory_id,
		const ::cartographer::common::Time	time,
		const ::cartographer::transform::Rigid3d	local_pose,
		::cartographer::sensor::RangeData	range_data_in_local
	)		`[private]`

Definition at line 527 of file map_builder_bridge.cc.

MapBuilderBridge& cartographer_ros::MapBuilderBridge::operator= ( const MapBuilderBridge & )

void cartographer_ros::MapBuilderBridge::RunFinalOptimization ( )

Definition at line 160 of file map_builder_bridge.cc.

SensorBridge * cartographer_ros::MapBuilderBridge::sensor_bridge ( int trajectory_id )

Definition at line 523 of file map_builder_bridge.cc.

bool cartographer_ros::MapBuilderBridge::SerializeState	(	const std::string &	filename,
		const bool	include_unfinished_submaps
	)

Definition at line 165 of file map_builder_bridge.cc.

Member Data Documentation

std::unordered_map<std::string , int> cartographer_ros::MapBuilderBridge::landmark_to_index_ [private]

Definition at line 120 of file map_builder_bridge.h.

std::unique_ptr<cartographer::mapping::MapBuilderInterface> cartographer_ros::MapBuilderBridge::map_builder_ [private]

Definition at line 117 of file map_builder_bridge.h.

absl::Mutex cartographer_ros::MapBuilderBridge::mutex_ [private]

Definition at line 112 of file map_builder_bridge.h.

const NodeOptions cartographer_ros::MapBuilderBridge::node_options_ [private]

Definition at line 113 of file map_builder_bridge.h.

std::unordered_map<int, std::unique_ptr<SensorBridge> > cartographer_ros::MapBuilderBridge::sensor_bridges_ [private]

Definition at line 124 of file map_builder_bridge.h.

tf2_ros::Buffer* const cartographer_ros::MapBuilderBridge::tf_buffer_ [private]

Definition at line 118 of file map_builder_bridge.h.

std::unordered_map<int, TrajectoryOptions> cartographer_ros::MapBuilderBridge::trajectory_options_ [private]

Definition at line 123 of file map_builder_bridge.h.

std::unordered_map<int, size_t> cartographer_ros::MapBuilderBridge::trajectory_to_highest_marker_id_ [private]

Definition at line 125 of file map_builder_bridge.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation